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EP3527766A1 - Learning method for a door sensor - Google Patents

Learning method for a door sensor Download PDF

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Publication number
EP3527766A1
EP3527766A1 EP18157282.7A EP18157282A EP3527766A1 EP 3527766 A1 EP3527766 A1 EP 3527766A1 EP 18157282 A EP18157282 A EP 18157282A EP 3527766 A1 EP3527766 A1 EP 3527766A1
Authority
EP
European Patent Office
Prior art keywords
door
rotation
sensor
door leaf
leaf
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18157282.7A
Other languages
German (de)
French (fr)
Other versions
EP3527766B1 (en
Inventor
Simon WALSER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cedes AG
Original Assignee
Cedes AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cedes AG filed Critical Cedes AG
Priority to EP18157282.7A priority Critical patent/EP3527766B1/en
Priority to US16/269,850 priority patent/US10975608B2/en
Priority to CN201910116025.0A priority patent/CN110161525B/en
Publication of EP3527766A1 publication Critical patent/EP3527766A1/en
Application granted granted Critical
Publication of EP3527766B1 publication Critical patent/EP3527766B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
    • E05F15/63—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings operated by swinging arms
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to a learning procedure for a door sensor traveling along on the door sensor for teaching in environmental parameters.
  • the method can form the advantage that the door sensor for its installation situation with respect to the distinction of the door used side neither preconfigured nor must be configured during assembly, so that both the type variance can be reduced and the assembly time and error rate can be reduced.
  • further method steps are the determination of the direction of rotation of the door leaf (left or right-handed rotation) due to the direction of rotation of at least one axis of the rotary encoder and the storage of the direction of rotation in a memory, in particular in a memory of the door sensor.
  • further method steps are opening the door to the maximum, in particular with subsequent reversing, in particular with subsequent closing of the door, detection of the maximum angle of rotation due to stoppage or reversal of motion due to the reversion of the rotation due to the opening to the maximum, and the storage of the maximum angle of rotation in a memory, in particular in a memory of the door sensor.
  • a further method step is the use of an at least 2-axis rotary encoder which is 2-fold inclined with respect to the door leaf.
  • This can form the advantage that the rotary encoder within the door sensor can be arranged parallel to the main axes of the door sensor, whereby the door sensor is easier and cheaper to produce.
  • a further method step is the use of a 3-axis rotary encoder.
  • This can form the advantage that a commercially available and inexpensive rotary encoder can be used.
  • a further method step is the use of a gyro sensor as a rotary encoder. This can provide the advantage that a very small component can be used.
  • Fig. 1 shows a door 20 with the door sensor 30 in 3D view.
  • the door 20 has a door leaf 21 which is rotatably attached to the wall 10 with door hinges 22.
  • the door leaf can be closed or opened in one direction, here in the direction of the observer, so that the door leaf releases the door opening 11.
  • the door hinge 20 defines the axis of rotation of the door leaf.
  • the axis of rotation is the axis around which the door leaf can be moved by a certain angle of rotation. When the door is closed, the angle of rotation is assumed to be zero. When the door is open at maximum, the door is open at the maximum angle of rotation.
  • the door 20 is a swing door that can be opened in one direction only.
  • the door and the door leaf have two door sides.
  • the first door side is the inside of the door, that is the side in the direction of which the door is opened.
  • the second door side is the door outside, this is the side in the direction of the door is closed.
  • a door may have one of two directions of rotation.
  • the direction of rotation of a door is the side on which the axis of rotation of the door is on the inside of the door.
  • the direction of rotation can be clockwise or counterclockwise.
  • the door 20 has the axis of rotation on the left side and therefore the left-hand rotation.
  • the door sensor 30 is mounted on the door inner side at the top of the side of the rotation axis on the door leaf with a very small clearance (less than 20 cm or less than 10% of the width or height of the door leaf) to the top and side of the door leaf.
  • the door sensor 30 monitors the three-dimensional monitoring field 70.
  • the thus mounted door sensor is referred to as moving on the door leaf.
  • the monitoring field 70 is moving with the door leaf. This means that the monitoring field can be at least partially constant to the door leaf.
  • the figure shows a realistic representation of the possible extent of the monitoring field.
  • the door 20 is a motor-driven door via a door control and the door sensor is designed to transmit signals to the door control depending on its detection in the monitoring field.
  • This can be a safety signal to stop the door, for example if a person is detected in the monitoring field in the movement field of the door leaf.
  • This can also be an opening signal for opening the door, for example if a person is detected in the monitoring field, which goes to the door.
  • Fig. 2 shows the door of the Fig. 1 in plan view.
  • Fig. 3 shows the door sensor 30 with housing 37 on the door leaf 21 as a detail Fig. 1 ,
  • Fig. 4 shows a mounting plate 31 of the door sensor in detail Fig. 3
  • the mounting plate 31 has a plane 32 for surface-parallel mounting on the door leaf 21, a horizontal edge 33 for alignment parallel to the upper edge of the door leaf and a vertical edge 34 for alignment parallel to the side edge of the door leaf.
  • the mounting plate has support elements 35 for the defined angular orientation of the door sensor with respect to the plane of the door leaf.
  • the mounting plate has retaining elements 36 for fixing and defining the angular orientation of the door sensor with respect to the horizontal and upper edges of the door leaf.
  • Fig. 5 also shows the door sensor 30 with the mounting plate 31 on the door leaf 21 as a detail Fig. 3 ,
  • the door sensor has a 3D image sensor 40, which has a transmitter 41 and a receiver 42.
  • the transmitter transmits 20 MHz modulated IR radiation into the surveillance area.
  • the receiver is a pixel matrix sensor which receives the radiation of the transmitter reflected from the monitoring area as an image and is designed to detect, for each of its pixels, the phase shift of the modulation of the received radiation compared to the emitted radiation. Due to the phase shift, the receiver determines the distance of the surface reflecting on this pixel in the interstitial space for each of its pixels and thus generates a 3D image.
  • Other door sensors use instead of the phase shift the time of flight of the emitted and reflected radiation which is similar in the end. These door sensors are also called TOF (Time of Flight) sensors.
  • the pixels of the receiver used are also called demodulation pixels.
  • Fig. 6 also shows the door sensor 30 as a detail FIG. 3 ,
  • the support members 35 fix in conjunction with the plane 32 of the mounting plate, the viewing direction and main axes of the door sensor with respect to the plane of the door panel.
  • the support members 36 fix in conjunction with the horizontal edge 33 and the vertical edge 34 of the mounting plate, the viewing direction and main axes of the door sensor with respect to the horizontal and the upper edge of the door panel.
  • the viewing direction and main axis of the door sensor is defined by the optical axes of transmitter 41 and receiver 42.
  • Fig. 7 shows the orientation of the door sensor 30 with respect to the door leaf 21 as a detail of the preceding figures.
  • the coordinate system of the door leaf has its zero point in the axis of rotation at the upper end of the door leaf.
  • the X-axis 23 of the door leaf extends horizontally in the direction of the hinge 22, the Y-axis 24 of the door leaf runs perpendicular to the plane of the door leaf to the door outside, ie away from the viewer and the Z-axis 25 of the door leaf runs vertically downwards.
  • the coordinate system of the door sensor has its zero point in the door sensor.
  • the X-axis 51 of the door sensor is rotated 30 degrees down the Y-axis of the door panel compared to the X-axis of the door panel.
  • the Z-axis 53 of the door sensor is rotated 15 ° relative to the plane of the door leaf about the X-axis of the door sensor forward to the viewer.
  • the Y-axis 52 of the door sensor results accordingly and points away from the viewer.
  • the main direction of the door sensor is thus inclined downwards and is pivoted by 30 ° from the vertical to the outer edge of the door panel and 15 ° out of the plane of the door panel forward.
  • the door sensor has a 3-axis gyrosensor as a rotary encoder and is not shown in the figures.
  • the gyro sensor is oriented according to the coordinate system of the door sensor.
  • Fig. 8 shows the four mounting situations of the door sensor 30 on a door panel 30.
  • the mounting situation 61 corresponds to the previous figures.
  • the mounting situations 62, 63 and 64 do not correspond to the previous figures.
  • the mounting situations 61 and 62 show the door sensor 30 on the door inner side of the door panel 21, while the mounting situations 63 and 64 show the door sensor 30 on the door outside of the door panel 21.
  • the mounting situations 61 and 63 show the door sensor 30 on a left-handed door, since the hinges 22 are arranged on the left side of the inside of the door.
  • the mounting situations 62 and 64 show the door sensor 30 on a right-handed door, since the hinges 22 are arranged on the right side of the inside of the door.
  • Mounting situation 61 on the door outside a left-handed door Mounting situation 62: on the door outside a clockwise door Mounting situation 63: on the inside of the door a left-handed door Mounting situation 64: on the inside of the door a clockwise door
  • the rotation angle sensor detects a rotation about all 3 axes when opening the door. From this, the door sensor determines the direction of rotation about each of its axes. From the direction of rotation of the 3 axes, the door sensor now clearly determines the correct mounting situation using the following table. A positive direction of rotation in the mathematical sense is indicated here with "+”.
  • Fig. 9 shows the monitoring field 71 of the door sensor 30 with the door leaf closed 21.
  • the monitoring field 71 terminates at the door outer edge.
  • Fig. 10 shows the enlarged monitoring field 72 of the door sensor 30 with slightly open door leaf 21 of the same door Fig. 9 , The monitoring field 72 now extends beyond the door outer edge.
  • the door sensor 30 of Fig. 9 and the Fig. 10 is thus adapted to change the monitoring field as a function of the angle of rotation and to increase here with increasing rotation angle.
  • the door sensor can be designed so that the maximum magnification is reached at approximately 45 ° rotation angle of the door leaf, so that the monitoring field is reduced again with closed or by 90 ° or fully open door leaf to the end of the door outer edge.
  • the angle of rotation for the door leaf of the door after 11, 12 and 13 is limited to a radial boundary line at 90 °, such as by a bottom stop, by a vertically adjacent wall, by a limitation of the door mechanism or by a limitation by the door control of the motorized door drive.
  • the door leaf 11 of Fig. 11 is closed and the monitoring field 70 extends as a rectangle to the door leaf adjacent in the width of the door panel perpendicular to the space in front of the door leaf.
  • the door leaf 11 of Fig. 12 is around 30 ° and the Fig. 13 opened by 60 ° and the monitoring field 71 extends as a rectangle to the door leaf in the width of the door perpendicular to the space in front of the door leaf, wherein the monitoring field 71 is reduced on the side of the hinge of the door so that the monitoring field does not exceed the radial limit line of the maximum movement of the door leaf extends.
  • the door sensor is thus designed to change the extent of the monitoring field as a function of the angle of rotation of the door panel so that the monitoring field is always cut off from the plane of the door panel at the maximum opening angle and therefore does not extend beyond this level.
  • a hiding of a wall can be achieved, for example, so that the wall is not detected as obstacle object when approaching the door sensor.
  • Door sensor for mounting on the door leaf of a swivel or revolving door with a 3D image sensor for monitoring a monitoring field in front of the door leaf with a rotary encoder for detecting the angle of rotation of the door leaf
  • the door sensor has a common carrier which the 3D image sensor with Rotary encoder connects.
  • the rotary encoder is an at least 2-axis rotary encoder.
  • the rotary encoder is a gyrosensor.
  • the common carrier defines a mounting plane for mounting on the door leaf and the rotary encoder is inclined with respect to the mounting plane and arranged in particular inclined by 15 °.
  • the common carrier comprises an edge or mark for horizontal and / or vertical alignment of the carrier on the door leaf, and the rotary encoder is inclined with respect to the edge or mark and arranged in particular inclined by 30 °.
  • the common carrier has a mounting plate for positionally stable recording of the 3D image sensor and the rotary encoder which has a plane for mounting on the door leaf and / or which comprises an edge or a mark which is intended to be in a horizontal and / or vertical orientation on the door leaf to be arranged, wherein the rotary encoder with respect to two vertical axes in the mounting plane, in particular the main axes of the door leaf is arranged 1-fold or 2-fold inclined.
  • the door sensor has a predetermined side for mounting in the direction of the door leaf.
  • the rotary encoder is a 3-axis rotary encoder, in particular a 3-axis gyro sensor.
  • the door sensor has a memory for storing environmental parameters, in particular the door side (inside door or door outside), the direction of rotation (left or right-hand door) and the maximum angle of rotation of the door leaf.
  • a method for teaching parameters for a door sensor for monitoring a monitoring field in front of the door leaf of a door for mounting on the door leaf of a swivel or revolving door with a minimum 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf wherein the following method steps performed Use of a minimum 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf, opening the door leaf of the closed door, detecting the rotation of both axes of the rotary encoder when opening, determining the direction of rotation of both axes due to their rotation, determining the Door side (door inside or door outside) on which the door sensor is mounted on the door leaf due to the direction of rotation of the two axes, storing the door side (inside or outside) in a memory, in particular a memory of the door sensor.
  • further method steps are the determination of the direction of rotation of the door leaf (left or right-handed rotation) due to the direction of rotation of at least one axis of the rotary encoder and the storage of the direction of rotation in a memory, in particular in a memory of the door sensor.
  • further method steps are opening the door to the maximum, in particular with subsequent reversing, in particular with subsequent closing of the door, detection of the maximum angle of rotation due to stoppage or reversal of motion due to the reversion of the rotation due to the opening to the maximum, and the storage of the maximum angle of rotation in a memory, in particular in a memory of the door sensor.
  • a further method step is the use of an at least 2-axis rotary encoder which is 2-fold inclined with respect to the door leaf.
  • a further method step is the use of a 3-axis rotary encoder.
  • a further method step is the use of a gyro sensor as a rotary encoder.
  • Door sensor for mounting on the door leaf of a swivel or revolving door with a 3D image sensor for monitoring a monitoring field in front of the door leaf with a rotary encoder or a signal input for detecting the rotation angle of the door leaf, wherein the door sensor is adapted to the extent of the monitoring field in dependence on the rotation angle to change.
  • the door sensor is designed to change the extent of the monitoring field in the direction of the door outer edge as a function of the angle of rotation.
  • the door sensor is designed to at least partially increase the expansion with increasing rotation angle.
  • the door sensor is designed to initially increase the expansion with increasing rotation angle and then to reduce it again.
  • the door sensor is designed to at least partially reduce the expansion as the angle of rotation increases.
  • the door sensor is designed to initially reduce the expansion with increasing rotation angle and then to increase again.
  • the door sensor is designed to change the extent of the monitoring field in dependence on the maximum angle of rotation of the opening of the door leaf.
  • the door sensor is adapted to change the monitoring field so that it does not extend substantially beyond the plane of the door panel at maximum rotation angle, in particular does not extend beyond a predetermined space portion above the plane of the door panel at maximum rotation angle, in particular not over the plane of Door leaf at maximum rotation angle extends.
  • the door sensor has a common carrier on which connects the 3D image sensor with the rotary encoder.
  • the rotary encoder is a gyrosensor.
  • the change in the extent of the monitoring field is caused by a change in the evaluated space points.
  • Door in particular a pivoting or revolving door with one of the aforementioned door sensors wherein the door sensor is mounted on the surface of the door leaf of the door and in particular mounted on top of the door leaf, in particular in the upper 90% of the door panel is mounted, in particular on the side of Is mounted rotation axis, in particular less than 20%, in particular less than 10% of the width of the door leaf away from the axis of rotation.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Burglar Alarm Systems (AREA)

Abstract

Verfahren zum Einlernen von Parametern für einen Türsensor (30) zur Überwachung eines Überwachungsfeldes (70) vor dem Türblatt (21) einer Türe (20) zur Montage auf dem Türblatt einer Schwenk- oder Drehtüre wobei folgende Verfahrensschritte ausgeführt werden: Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt mindestens 1-fach geneigt ist, Öffnen des Türblattes der geschlossenen Türe, Detektion der Drehung beider Achsen des Drehwinkelgebers beim Öffnen, Ermittlung der Drehrichtung beider Achsen aufgrund deren Drehung, Ermittlung der Türseite (Türinnenseite oder Türaussenseite) an der der Türsensor am Türblatt montiert ist aufgrund der Drehrichtung der beiden Achsen, Speicherung der Türseite (Türinnenseite oder Türaussenseite) in einem Speicher, insbesondere einem Speicher des Türsensors.Method for teaching parameters for a door sensor (30) for monitoring a monitoring field (70) in front of the door leaf (21) of a door (20) for mounting on the door leaf of a pivoting or revolving door, wherein the following method steps are carried out: Axial rotary encoder which is at least 1-fold inclined with respect to the door leaf, opening the door leaf of the closed door, detecting the rotation of both axes of the rotary encoder when opening, determining the direction of rotation of both axes due to their rotation, determination of the door side (door inside or door outside) on the door sensor is mounted on the door leaf due to the direction of rotation of the two axes, storing the door side (door inside or door outside) in a memory, in particular a memory of the door sensor.

Description

Die Erfindung betrifft ein Einlernverfahren für einen auf dem Türblatt mitfahrenden Türsensor zum Einlernen von Umgebungsparametern.The invention relates to a learning procedure for a door sensor traveling along on the door sensor for teaching in environmental parameters.

Aus dem Stand der Technik sind Türsensoren bekannt, die auf dem Türblatt einer Schwenktüre montiert sind. Die Patente EP 2 453 254 A1 , EP 2 453 260 B1 , EP 2 698 649 B1 , EP 2 453 252 B1 und EP 2 667 218 B1 des Anmelders beschreiben einen gattungsgemässen Sensor ohne Einlernverfahren.Door sensors are known from the prior art, which are mounted on the door leaf of a swing gate. The patents EP 2 453 254 A1 . EP 2 453 260 B1 . EP 2 698 649 B1 . EP 2 453 252 B1 and EP 2 667 218 B1 the applicant describe a generic sensor without teach-in procedure.

Es ist Aufgabe der Erfindung, einen verbesserten Türsensor mit Einlernverfahren bereit zu stellen.It is an object of the invention to provide an improved door sensor with teach-in method.

Diese Aufgabe wird, ausgehend von einem Türsensor der eingangs genannten Art, durch einen Verfahren nach Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen sind in den weiteren abhängigen Ansprüchen angegeben.This object is achieved, starting from a door sensor of the type mentioned, by a method according to claim 1. Advantageous embodiments are specified in the further dependent claims.

Das erfindungsgemäße Verfahren ist ein Verfahren zum Einlernen von Parametern für einen Türsensor zur Überwachung eines Überwachungsfeldes vor dem Türblatt einer Türe zur Montage auf dem Türblatt einer Schwenk- oder Drehtüre wobei folgende Verfahrensschritte ausgeführt werden:

  • Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt mindestens 1-fach geneigt ist,
  • Öffnen des Türblattes der geschlossenen Türe,
  • Detektion der Drehung beider Achsen des Drehwinkelgebers beim Öffnen,
  • Ermittlung der Drehrichtung beider Achsen aufgrund deren Drehung,
  • Ermittlung der Türseite (Türinnenseite oder Türaussenseite) an der der Türsensor am Türblatt montiert ist aufgrund der Drehrichtung der beiden Achsen,
  • Speicherung der Türseite (Türinnenseite oder Türaussenseite) in einem Speicher, insbesondere einem Speicher des Türsensors.
The method according to the invention is a method for teaching parameters for a door sensor for monitoring a monitoring field in front of the door leaf of a door for mounting on the door leaf of a pivoting or revolving door, wherein the following method steps are carried out:
  • Use of a minimum 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf,
  • Opening the door leaf of the closed door,
  • Detection of the rotation of both axes of the rotary encoder when opening,
  • Determination of the direction of rotation of both axes due to their rotation,
  • Determination of the door side (inside or outside of the door) on which the door sensor is mounted on the door leaf due to the direction of rotation of the two axes,
  • Storage of the door side (door inside or door outside) in a memory, in particular a memory of the door sensor.

Das Verfahren kann den Vorteil ausbilden, dass der Türsensor für seine Einbausituation bezüglich der Unterscheidung der verwendeten Türseite weder vorkonfiguriert, noch bei der Montage konfiguriert werden muss, sodass sowohl die Typenvarianz reduziert als auch die Montagezeit und die Fehleranfälligkeit reduziert werden kann.The method can form the advantage that the door sensor for its installation situation with respect to the distinction of the door used side neither preconfigured nor must be configured during assembly, so that both the type variance can be reduced and the assembly time and error rate can be reduced.

Vorzugsweise sind weitere Verfahrensschritte die Ermittlung der Drehrichtung des Türblatts (links- oder rechtsdrehend) aufgrund der Drehrichtung mindestens einer Achse des Drehwinkelgebers und die Speicherung der Drehrichtung in einem Speicher, insbesondere in einem Speicher des Türsensors.Preferably, further method steps are the determination of the direction of rotation of the door leaf (left or right-handed rotation) due to the direction of rotation of at least one axis of the rotary encoder and the storage of the direction of rotation in a memory, in particular in a memory of the door sensor.

Dies kann den Vorteil ausbilden, dass der Türsensor für seine Einbausituation bezüglich der Unterscheidung der vorgegebenen Drehrichtung weder vorkonfiguriert, noch bei der Montage konfiguriert werden muss, sodass sowohl die Typenvarianz reduziert als auch die Montagezeit und die Fehleranfälligkeit reduziert werden kann.This can form the advantage that the door sensor for its installation situation with respect to the distinction of the predetermined direction of rotation neither preconfigured nor must be configured during assembly, so that both the type variance reduced and the assembly time and error rate can be reduced.

Vorzugsweise sind weitere Verfahrensschritte das Öffnen der Türe bis zum Maximum, insbesondere mit anschliessendem Reversieren, insbesondere mit anschliessendem Schliessen der Türe, Detektion des maximalen Drehwinkels aufgrund des Stillstandes oder der Bewegungsumkehr aufgrund der Reversion der Drehung aufgrund des Öffnens bis zum Maximum, und die Speicherung des maximalen Drehwinkels in einem Speicher, insbesondere in einem Speicher des Türsensors.Preferably, further method steps are opening the door to the maximum, in particular with subsequent reversing, in particular with subsequent closing of the door, detection of the maximum angle of rotation due to stoppage or reversal of motion due to the reversion of the rotation due to the opening to the maximum, and the storage of the maximum angle of rotation in a memory, in particular in a memory of the door sensor.

Dies kann den Vorteil ausbilden, dass der Türsensor für seine Einbausituation bezüglich des maximalen Drehwinkels des Türblatts, also des maximalen Öffnungswinkels der Türe weder vorkonfiguriert, noch bei der Montage konfiguriert werden muss, sodass sowohl die Typenvarianz reduziert als auch die Montagezeit und die Fehleranfälligkeit reduziert werden kann.This can form the advantage that the door sensor for its installation situation with respect to the maximum angle of rotation of the door leaf, ie the maximum opening angle of the door neither preconfigured nor must be configured during assembly, so that both the type variance reduced and the assembly time and the susceptibility to errors are reduced can.

Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt 2-fach geneigt ist. Dies kann den Vorteil ausbilden, dass der Drehwinkelgeber innerhalb des Türsensors parallel zu den Hauptachsen des Türsensors angeordnet werden kann, womit der Türsensor einfacher und preiswerter zu produzieren ist.Preferably, a further method step is the use of an at least 2-axis rotary encoder which is 2-fold inclined with respect to the door leaf. This can form the advantage that the rotary encoder within the door sensor can be arranged parallel to the main axes of the door sensor, whereby the door sensor is easier and cheaper to produce.

Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines 3-achsigen Drehwinkelgebers. Dies kann den Vorteil ausbilden, dass ein handelsüblicher und preiswerter Drehwinkelgeber verwendet werden kann.Preferably, a further method step is the use of a 3-axis rotary encoder. This can form the advantage that a commercially available and inexpensive rotary encoder can be used.

Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines Gyrosensors als Drehwinkelgeber. Dies kann den Vorteil ausbilden, dass ein sehr kleines Bauteil verwendet werden kann.Preferably, a further method step is the use of a gyro sensor as a rotary encoder. This can provide the advantage that a very small component can be used.

Weitere Merkmale der Erfindung sind in den Zeichnungen angegeben.Further features of the invention are indicated in the drawings.

Die jeweils genannten Vorteile können sich auch für Merkmalskombinationen realisieren in deren Zusammenhang sie nicht genannt sind.The advantages mentioned in each case can also be realized for combinations of features in the context of which they are not mentioned.

Überblick über die Zeichnungen:Overview of the drawings:

Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt. Alle Zeichnungen betreffen den selben erfindungsgemässen Türsensor in gleicher Anordnung am Türblatt, falls nicht ausdrücklich anders dargelegt. Gleiche Bezugszeichen in den einzelnen Figuren bezeichnen dabei einander entsprechende Elemente. Es zeigen:

Fig. 1
Türe mit Türsensor in 3D Ansicht
Fig. 2
Türe mit Türsensor in Draufsicht
Fig. 3
Türsensor mit Gehäuse
Fig. 4
Montageplatte des Türsensors
Fig. 5
Türsensor auf Montageplatte
Fig. 6
Türsensor auf Montageplatte
Fig. 7
Ausrichtung des Türsensors
Fig. 8
Montagesituationen
Fig. 9
Überwachungsfeld einer geschlossenen Türe
Fig. 10
Überwachungsfeld einer geöffneten Türe
Fig. 11
Hinteres Überwachungsfeld bei geschlossener Türe
Fig. 12
Hinteres Überwachungsfeld bei leicht geöffneter Türe
Fig. 13
Hinteres Überwachungsfeld bei weiter geöffneter Türe
An embodiment of the invention is shown in the drawings. All drawings relate to the same inventive door sensor in the same arrangement on the door leaf, unless explicitly stated otherwise. The same reference numerals in the individual figures designate corresponding elements. Show it:
Fig. 1
Door with door sensor in 3D view
Fig. 2
Door with door sensor in plan view
Fig. 3
Door sensor with housing
Fig. 4
Mounting plate of the door sensor
Fig. 5
Door sensor on mounting plate
Fig. 6
Door sensor on mounting plate
Fig. 7
Orientation of the door sensor
Fig. 8
installation situations
Fig. 9
Monitoring field of a closed door
Fig. 10
Monitoring field of an opened door
Fig. 11
Rear monitoring field with closed door
Fig. 12
Rear monitoring field with slightly open door
Fig. 13
Rear monitoring field with door still open

Detaillierte Beschreibung der Zeichnungen:Detailed description of the drawings:

Fig. 1 zeigt eine Türe 20 mit dem Türsensor 30 in 3D Ansicht. Fig. 1 shows a door 20 with the door sensor 30 in 3D view.

Die Türe 20 weist ein Türblatt 21 auf welches mit Türscharnieren 22 drehbar an der Wand 10 befestigt ist. Das Türblatt kann geschlossen werden oder in eine Richtung, hier in Richtung des Betrachters, geöffnet werden, sodass das Türblatt die Türöffnung 11 frei gibt.The door 20 has a door leaf 21 which is rotatably attached to the wall 10 with door hinges 22. The door leaf can be closed or opened in one direction, here in the direction of the observer, so that the door leaf releases the door opening 11.

Das Türscharnier 20 legt die Drehachse des Türblatts fest. Die Drehachse ist die Achse um die das Türblatt um einen bestimmten Drehwinkel bewegt werden kann. Bei geschlossener Türe wird der Drehwinkel Null angenommen. Bei maximal geöffneter Türe ist die Türe im maximalen Drehwinkel geöffnet.The door hinge 20 defines the axis of rotation of the door leaf. The axis of rotation is the axis around which the door leaf can be moved by a certain angle of rotation. When the door is closed, the angle of rotation is assumed to be zero. When the door is open at maximum, the door is open at the maximum angle of rotation.

Die Türe 20 ist eine Schwenktüre, die in nur eine Richtung zu öffnen ist.
Die Türe und das Türblatt weisen zwei Türseiten auf. Die erste Türseite ist die Türinnenseite, das ist die Seite, in deren Richtung die Tür geöffnet wird. Die zweite Türseite ist die Türaussenseite, das ist die Seite in deren Richtung die Türe geschlossen wird.The door 20 is a swing door that can be opened in one direction only.
The door and the door leaf have two door sides. The first door side is the inside of the door, that is the side in the direction of which the door is opened. The second door side is the door outside, this is the side in the direction of the door is closed.

Eine Türe kann eine von zwei Drehrichtungen aufweisen. Die Drehrichtung einer Türe ist die Seite an welcher die Drehachse der Türe auf der Türinnenseite ist. Die Drehrichtung kann rechtsdrehend oder linksdrehend sein. Die Türe 20 hat die Drehachse auf der linken Seite und daher die linksdrehend.A door may have one of two directions of rotation. The direction of rotation of a door is the side on which the axis of rotation of the door is on the inside of the door. The direction of rotation can be clockwise or counterclockwise. The door 20 has the axis of rotation on the left side and therefore the left-hand rotation.

Auf dem Türblatt 21 ist auf der Türinnenseite oben auf der Seite der Drehachse auf dem Türblatt mit sehr geringem Abstand (kleiner 20 cm oder kleiner 10% der Breite bzw. Höhe des Türblatts) zum oberen und seitlichen Abschluss des Türblatts der Türsensor 30 montiert. Der Türsensor 30 überwacht das dreidimensionale Überwachungsfeld 70. Der so montierte Türsensor wird als auf dem Türblatt mitfahrend bezeichnet. Ebenso ist das Überwachungsfeld 70 mit dem Türblatt mitfahrend. Das heisst, das Überwachungsfeld kann mindestens teilweise konstant zum Türblatt sein. Die Figur zeigt eine realistische Darstellung der möglichen Ausdehnung des Überwachungsfeldes.On the door leaf 21, the door sensor 30 is mounted on the door inner side at the top of the side of the rotation axis on the door leaf with a very small clearance (less than 20 cm or less than 10% of the width or height of the door leaf) to the top and side of the door leaf. The door sensor 30 monitors the three-dimensional monitoring field 70. The thus mounted door sensor is referred to as moving on the door leaf. Similarly, the monitoring field 70 is moving with the door leaf. This means that the monitoring field can be at least partially constant to the door leaf. The figure shows a realistic representation of the possible extent of the monitoring field.

Die Türe 20 ist eine über eine Türsteuerung motorisch angetriebene Türe und der Türsensor ist dazu ausgelegt, in Abhängigkeit von seiner Detektion im Überwachungsfeld Signale an die Türsteuerung zu übergeben. Dies kann ein Sicherheitssignal zum Stopp der Türe sein, etwa falls eine Person im Überwachungsfeld im Bewegungsfeld des Türblatts detektiert wird. Dies kann auch ein Öffnungssignal zum Öffnen der Türe sein, etwa falls eine Person im Überwachungsfeld detektiert wird, die auf die Türe zu geht.The door 20 is a motor-driven door via a door control and the door sensor is designed to transmit signals to the door control depending on its detection in the monitoring field. This can be a safety signal to stop the door, for example if a person is detected in the monitoring field in the movement field of the door leaf. This can also be an opening signal for opening the door, for example if a person is detected in the monitoring field, which goes to the door.

Fig. 2 zeigt die Türe der Fig. 1 in Draufsicht. Fig. 2 shows the door of the Fig. 1 in plan view.

Fig. 3 zeigt den Türsensor 30 mit Gehäuse 37 am Türblatt 21 als Detail aus Fig. 1. Fig. 3 shows the door sensor 30 with housing 37 on the door leaf 21 as a detail Fig. 1 ,

Fig. 4 zeigt eine Montageplatte 31 des Türsensors als Detail aus Fig. 3. Die Montageplatte 31 weist eine Ebene 32 zur flächenparallelen Montage am Türblatt 21 auf, eine waagrechte Kante 33 zur Ausrichtung parallel zur Oberkante des Türblatts und eine senkrechte Kante 34 zur Ausrichtung parallel zur Seitenkante des Türblatts. Die Montageplatte weist Stützelemente 35 auf zur definierten Winkelausrichtung des Türsensors in Bezug auf die Ebene des Türblatts. Die Montageplatte weist Halteelemente 36 auf, zur Fixierung und definierten Winkelausrichtung des Türsensors in Bezug auf die Waagrechte und Oberkante des Türblatts. Fig. 4 shows a mounting plate 31 of the door sensor in detail Fig. 3 , The mounting plate 31 has a plane 32 for surface-parallel mounting on the door leaf 21, a horizontal edge 33 for alignment parallel to the upper edge of the door leaf and a vertical edge 34 for alignment parallel to the side edge of the door leaf. The mounting plate has support elements 35 for the defined angular orientation of the door sensor with respect to the plane of the door leaf. The mounting plate has retaining elements 36 for fixing and defining the angular orientation of the door sensor with respect to the horizontal and upper edges of the door leaf.

Fig. 5 zeigt den Türsensor 30 mit der Montageplatte 31 auf dem Türblatt 21 ebenfalls als Detail aus Fig. 3. Der Türsensor weist einen 3D Bildsensor 40 auf welcher einen Sender 41 und einen Empfänger 42 aufweist. Der Sender sendet mit 20 MHz modulierte IR Strahlung in den Überwachungsbereich. Der Empfänger ist ein Pixel-Matrixsensor welcher die aus dem Überwachungsbereich reflektierte Strahlung des Senders als Bild empfängt und dazu ausgebildet ist, für jeden seiner Pixel die Phasenverschiebung der Modulation der empfangenen Strahlung im Vergleich zur ausgesandten Strahlung zu detektieren. Aufgrund der Phasenverschiebung ermittelt der Empfänger für jedes seiner Pixel den Abstand der auf dieses Pixel reflektierenden Oberfläche im Überwachungsraum und generiert so ein 3D Bild. Andere Türsensoren benutzen statt der Phasenverschiebung die Flugzeit der ausgesandten und reflektieren Strahlung was im Endeffekt ähnlich ist. Diese Türsensoren werden auch TOF (Time of Flight) Sensoren genannt. Die Pixel des verwendeten Empfängers werden auch Demodulationspixel genannt. Fig. 5 also shows the door sensor 30 with the mounting plate 31 on the door leaf 21 as a detail Fig. 3 , The door sensor has a 3D image sensor 40, which has a transmitter 41 and a receiver 42. The transmitter transmits 20 MHz modulated IR radiation into the surveillance area. The receiver is a pixel matrix sensor which receives the radiation of the transmitter reflected from the monitoring area as an image and is designed to detect, for each of its pixels, the phase shift of the modulation of the received radiation compared to the emitted radiation. Due to the phase shift, the receiver determines the distance of the surface reflecting on this pixel in the interstitial space for each of its pixels and thus generates a 3D image. Other door sensors use instead of the phase shift the time of flight of the emitted and reflected radiation which is similar in the end. These door sensors are also called TOF (Time of Flight) sensors. The pixels of the receiver used are also called demodulation pixels.

Fig. 6 zeigt den Türsensor 30 ebenfalls als Detail aus Figur 3. Die Stützelemente 35 fixieren in Zusammenhang mit der Ebene 32 der Montageplatte die Blickrichtung und Hauptachsen des Türsensors in Bezug auf die Ebene des Türblatts. Die Halteelemente 36 fixieren in Zusammenhang mit der waagrechten Kante 33 und der senkrechten Kante 34 der Montageplatte die Blickrichtung und Hauptachsen des Türsensors in Bezug auf die Waagrechen und die Oberkante des Türblatts. Die Blickrichtung und Hauptachse des Türsensors wird durch die optischen Achsen von Sender 41 und Empfänger 42 definiert. Fig. 6 also shows the door sensor 30 as a detail FIG. 3 , The support members 35 fix in conjunction with the plane 32 of the mounting plate, the viewing direction and main axes of the door sensor with respect to the plane of the door panel. The support members 36 fix in conjunction with the horizontal edge 33 and the vertical edge 34 of the mounting plate, the viewing direction and main axes of the door sensor with respect to the horizontal and the upper edge of the door panel. The viewing direction and main axis of the door sensor is defined by the optical axes of transmitter 41 and receiver 42.

Fig. 7 zeigt die Ausrichtung des Türsensors 30 in Bezug auf das Türblatt 21 als Detail der vorhergehenden Figuren. Fig. 7 shows the orientation of the door sensor 30 with respect to the door leaf 21 as a detail of the preceding figures.

Das Koordinatensystem des Türblatts hat seinen Nullpunkt in der Drehachse am oberen Ende des Türblatts. Die X-Achse 23 des Türblatts verläuft waagrecht in Richtung des Scharniers 22, die Y-Achse 24 des Türblatts verläuft lotrecht zur Ebene des Türblatts zur Türaussenseite, also vom Betrachter weg und die Z-Achse 25 des Türblatts verläuft senkrecht nach unten.The coordinate system of the door leaf has its zero point in the axis of rotation at the upper end of the door leaf. The X-axis 23 of the door leaf extends horizontally in the direction of the hinge 22, the Y-axis 24 of the door leaf runs perpendicular to the plane of the door leaf to the door outside, ie away from the viewer and the Z-axis 25 of the door leaf runs vertically downwards.

Das Koordinatensystem des Türsensors hat seinen Nullpunkt im Türsensor. Die X-Achse 51 des Türsensors ist im Vergleich zur X-Achse des Türblatts um 30° um die Y-Achse des Türblatts nach unten gedreht. Die Z-Achse 53 des Türsensors ist im Vergleich zur Ebene des Türblatts um 15° um die X-Achse des Türsensors nach vorn zum Betrachter hingedreht. Die Y-Achse 52 des Türsensors ergibt sich entsprechend und zeigt vom Betrachter weg. Die Hauptblickrichtung des Türsensors geht also schräg nach unten und ist um 30° aus der Senkrechten zur Aussenkante des Türblatts und um 15° aus der Ebene des Türblatts nach vorn geschwenkt.The coordinate system of the door sensor has its zero point in the door sensor. The X-axis 51 of the door sensor is rotated 30 degrees down the Y-axis of the door panel compared to the X-axis of the door panel. The Z-axis 53 of the door sensor is rotated 15 ° relative to the plane of the door leaf about the X-axis of the door sensor forward to the viewer. The Y-axis 52 of the door sensor results accordingly and points away from the viewer. The main direction of the door sensor is thus inclined downwards and is pivoted by 30 ° from the vertical to the outer edge of the door panel and 15 ° out of the plane of the door panel forward.

Der Türsensor weist einen 3-Achsen Gyrosensor als Drehwinkelgeber auf und ist in den Figuren nicht dargestellt. Der Gyrosensor ist gemäss dem Koordinatensystem des Türsensors orientiert.The door sensor has a 3-axis gyrosensor as a rotary encoder and is not shown in the figures. The gyro sensor is oriented according to the coordinate system of the door sensor.

Fig. 8 zeigt die vier Montagesituationen des Türsensors 30 an einem Türblatt 30. Die Montagesituation 61 entspricht den vorhergehenden Figuren. Die Montagesituationen 62, 63 und 64 entsprechen nicht den vorhergehenden Figuren. Fig. 8 shows the four mounting situations of the door sensor 30 on a door panel 30. The mounting situation 61 corresponds to the previous figures. The mounting situations 62, 63 and 64 do not correspond to the previous figures.

Die Montagesituationen 61 und 62 zeigen den Türsensor 30 auf der Türinnenseite des Türblatts 21, während die Montagesituationen 63 und 64 den Türsensor 30 auf der Türaussenseite des Türblatts 21 zeigen. Die Montagesituationen 61 und 63 zeigen den Türsensor 30 an einer linksdrehenden Türe, da die Scharniere 22 auf der linken Seite der Türinnenseite angeordnet sind. Die Montagesituationen 62 und 64 zeigen den Türsensor 30 an einer rechtsdrehenden Türe, da die Scharniere 22 auf der rechten Seite der Türinnenseite angeordnet sind.The mounting situations 61 and 62 show the door sensor 30 on the door inner side of the door panel 21, while the mounting situations 63 and 64 show the door sensor 30 on the door outside of the door panel 21. The mounting situations 61 and 63 show the door sensor 30 on a left-handed door, since the hinges 22 are arranged on the left side of the inside of the door. The mounting situations 62 and 64 show the door sensor 30 on a right-handed door, since the hinges 22 are arranged on the right side of the inside of the door.

Es gibt also vier unterschiedliche Montagesituationen die durch die Kombination aus den beiden möglichen Türseiten (Türinnenseite oder Türaussenseite) und den beiden möglichen Drehrichtungen des Türblatts (rechtsdrehend oder linksdrehend) gegeben sind. Dies sind im Einzelnen: Montagesituation 61: auf Türaussenseite einer linksdrehende Türe Montagesituation 62: auf Türaussenseite einer rechtsdrehenden Türe Montagesituation 63: auf Türinnenseite einer linksdrehende Türe Montagesituation 64: auf Türinnenseite einer rechtsdrehenden Türe So there are four different mounting situations that are given by the combination of the two possible door sides (door inside or door outside) and the two possible directions of rotation of the door (clockwise or anti-clockwise). These are in detail: Mounting situation 61: on the door outside a left-handed door Mounting situation 62: on the door outside a clockwise door Mounting situation 63: on the inside of the door a left-handed door Mounting situation 64: on the inside of the door a clockwise door

In einem Lernmodus detektiert der Drehwinkelsensor beim Öffnen der Türe eine Drehung um alle 3 Achsen. Daraus ermittelt der Türsensor die Drehrichtung um jede seiner Achsen. Aus der Drehrichtung der 3 Achsen ermittelt der Türsensor nun eindeutig die zutreffende Montagesituation anhand der folgenden Tabelle. Eine positive Drehrichtung im mathematischen Sinn ist hier mit "+" angegeben. Drehrichtung X-Achse Drehrichtung Y-Achse Drehrichtung Z-Achse Montagesituation + + + 61 - + - 62 + - + 63 - - - 64 In a learning mode, the rotation angle sensor detects a rotation about all 3 axes when opening the door. From this, the door sensor determines the direction of rotation about each of its axes. From the direction of rotation of the 3 axes, the door sensor now clearly determines the correct mounting situation using the following table. A positive direction of rotation in the mathematical sense is indicated here with "+". Direction of rotation X-axis Direction of rotation Y-axis Direction of rotation Z-axis mounting situation + + + 61 - + - 62 + - + 63 - - - 64

Aus der Tabelle ist ersichtlich, dass die Detektion von nur 2 Achsen ausreichen würde, wenn dies die Achsen X und Y oder Y und Z sind, da auch allein mit diesen Achsen eine eindeutige Zuordnung der Montagesituation möglich ist. Insofern ist es ausreichend, für den Türsensor einen 2-Achsen Drehwinkelgeber zu verwenden.From the table it can be seen that the detection of only 2 axes would be sufficient if these are the axes X and Y or Y and Z, since even with these axes a clear assignment of the mounting situation is possible. In this respect, it is sufficient to use a 2-axis rotary encoder for the door sensor.

Ebenso soll angemerkt werden, dass es ausreichend ist, das Koordinatensystem des Drehwinkelgebers lediglich um eine Achse gegenüber dem Türblatt zu verdrehen. Es ist also ausreichend die Z-Achse 53 des Drehwinkelgebers im Vergleich zur Ebene des Türblatts um 15° um die X-Achse des Türsensors nach vorn zum Betrachter hin zu verdrehen. Die X-Achse des Drehwinkelgebers kann also parallel zur X-Achse des Türblatts verbleiben.It should also be noted that it is sufficient to rotate the coordinate system of the rotary encoder only about an axis relative to the door leaf. So it is sufficient to rotate the Z-axis 53 of the rotary encoder relative to the plane of the door leaf by 15 ° about the X-axis of the door sensor forward to the viewer. The X-axis of the rotary encoder can therefore remain parallel to the X-axis of the door leaf.

Fig. 9 zeigt das Überwachungsfeld 71 des Türsensors 30 mit geschlossenem Türblatt 21. Das Überwachungsfeld 71 endet an der Türaussenkante. Fig. 9 shows the monitoring field 71 of the door sensor 30 with the door leaf closed 21. The monitoring field 71 terminates at the door outer edge.

Fig. 10 zeigt das vergrösserte Überwachungsfeld 72 des Türsensors 30 mit leicht geöffnetem Türblatt 21 der gleichen Türe der Fig. 9. Das Überwachungsfeld 72 reicht nun über die Türaussenkante hinaus. Der Türsensor 30 der Fig. 9 und der Fig. 10 ist also dazu ausgebildet, das Überwachungsfeld in Abhängigkeit des Drehwinkels zu verändern und hier mit zunehmendem Drehwinkel zu vergrössern. Fig. 10 shows the enlarged monitoring field 72 of the door sensor 30 with slightly open door leaf 21 of the same door Fig. 9 , The monitoring field 72 now extends beyond the door outer edge. The door sensor 30 of Fig. 9 and the Fig. 10 is thus adapted to change the monitoring field as a function of the angle of rotation and to increase here with increasing rotation angle.

Der Türsensor kann dazu ausgelegt sein, dass die maximale Vergrösserung etwa bei 45° Drehwinkel des Türblatts erreicht ist, sodass das Überwachungsfeld bei geschlossener oder um 90° oder vollständig geöffnetem Türblatt wieder zum Ende der Türaussenkante reduziert ist.The door sensor can be designed so that the maximum magnification is reached at approximately 45 ° rotation angle of the door leaf, so that the monitoring field is reduced again with closed or by 90 ° or fully open door leaf to the end of the door outer edge.

Fig. 11, Fig. 12 und Fig. 13 zeigten jeweils eine Türe mit einem Türblatt 21 mit einem Türsensor 30 und dem Überwachungsfeld 70, 71 bei verschiedenen Drehwinkeln des Türblatts in Draufsicht. 11, 12 and 13 each showed a door with a door leaf 21 with a door sensor 30 and the monitoring field 70, 71 at different angles of rotation of the door leaf in plan view.

Der Drehwinkel für das Türblatt der Türe nach Fig. 11, Fig. 12 und Fig. 13 ist auf eine radiale Begrenzungslinie bei 90° begrenzt, etwa durch einen Bodenanschlag, durch eine senkrecht angrenzende Wand, durch eine Begrenzung der Türmechanik oder durch eine Begrenzung durch die Türsteuerung des motorischen Türantriebs.The angle of rotation for the door leaf of the door after 11, 12 and 13 is limited to a radial boundary line at 90 °, such as by a bottom stop, by a vertically adjacent wall, by a limitation of the door mechanism or by a limitation by the door control of the motorized door drive.

Das Türblatt 11 der Fig. 11 ist geschlossen und das Überwachungsfeld 70 erstreckt sich als Rechteck an das Türblatt angrenzend in der Breite des Türblatts senkrecht in den Raum vor dem Türblatt.The door leaf 11 of Fig. 11 is closed and the monitoring field 70 extends as a rectangle to the door leaf adjacent in the width of the door panel perpendicular to the space in front of the door leaf.

Das Türblatt 11 der Fig. 12 ist um 30° und der Fig. 13 um 60° geöffnet und das Überwachungsfeld 71 erstreckt sich als Rechteck an das Türblatt angrenzend in der Breite des Türblatts senkrecht in den Raum vor dem Türblatt, wobei das Überwachungsfeld 71 auf der Seite des Scharniers der Türe so vermindert ist, dass das Überwachungsfeld nicht über die radiale Begrenzungslinie der maximalen Bewegung des Türblatts hinausreicht.The door leaf 11 of Fig. 12 is around 30 ° and the Fig. 13 opened by 60 ° and the monitoring field 71 extends as a rectangle to the door leaf in the width of the door perpendicular to the space in front of the door leaf, wherein the monitoring field 71 is reduced on the side of the hinge of the door so that the monitoring field does not exceed the radial limit line of the maximum movement of the door leaf extends.

Der Türsensor ist also dazu ausgelegt, die Ausdehnung des Überwachungsfeldes in Abhängigkeit des Drehwinkels des Türblatts so zu ändern, dass das Überwachungsfeld von der Ebene des Türblatts bei maximalem Öffnungswinkel stets abgeschnitten ist und also nicht über diese Ebene hinausreicht. Dadurch kann etwa auch ein Ausblenden einer Wand erreicht werden, damit die Wand bei der Annäherung des Türsensors nicht als Hindernis-Objekt detektiert wird.The door sensor is thus designed to change the extent of the monitoring field as a function of the angle of rotation of the door panel so that the monitoring field is always cut off from the plane of the door panel at the maximum opening angle and therefore does not extend beyond this level. As a result, a hiding of a wall can be achieved, for example, so that the wall is not detected as obstacle object when approaching the door sensor.

Zusammenfassung der Merkmale des Türsensors:Summary of the features of the door sensor:

Türsensor zur Montage auf dem Türblatt einer Schwenk- oder Drehtüre mit einem 3D Bildsensor zur Überwachung eines Überwachungsfeldes vor dem Türblatt mit einem Drehwinkelgeber zur Detektion des Drehwinkels des Türblatts wobei der Türsensor einen gemeinsamen Träger aufweist welcher den 3D Bildsensor mit dem Drehwinkelgeber verbindet. Vorzugsweise ist der Drehwinkelgeber ein mindestens 2-Achsen Drehwinkelgeber. Vorzugsweise ist der Drehwinkelgeber ein Gyrosensor. Vorzugsweise definiert der gemeinsame Träger eine Montageebene zur Montage am Türblatt und der Drehwinkelgeber ist in Bezug auf die Montageebene geneigt angeordnet und insbesondere um 15° geneigt angeordnet. Vorzugsweise umfasst der gemeinsame Träger eine Kante oder Markierung zur waagrechten und/oder senkrechten Ausrichtung des Trägers am Türblatt, und der Drehwinkelgeber ist in Bezug auf die Kante oder Markierung geneigt angeordnet und insbesondere um 30° geneigt angeordnet. Vorzugsweise weist der gemeinsame Träger eine Montageplatte zur positionsstabilen Aufnahme des 3D Bildsensors und des Drehwinkelgebers auf welche eine Ebene zur Montage am Türblatt aufweist und/oder welche einer Kante oder einer Markierung umfasst die dazu vorgesehen ist, in waagrechter und/oder senkrechter Ausrichtung auf dem Türblatt angeordnet zu werden, wobei der Drehwinkelgeber in Bezug auf zwei senkrechte Achsen in der Montageebene, insbesondere die Hauptachsen des Türblatts 1-fach oder 2-fach geneigt angeordnet ist. Vorzugsweise weist der Türsensor eine vorbestimmte Seite zur Montage in Richtung des Türblatts auf. Vorzugsweise ist der Drehwinkelgeber ein 3-Achsen Drehwinkelgeber, insbesondere ein 3-Achsen Gyrosensor. Vorzugsweise weist der Türsensor einen Speicher zur Speicherung von Umgebungsparametern auf, insbesondere der Türseite (Türinnenseite oder Türaussenseite), der Drehrichtung (links- oder rechtsdrehende Türe) und des maximalen Drehwinkels des Türblatts.Door sensor for mounting on the door leaf of a swivel or revolving door with a 3D image sensor for monitoring a monitoring field in front of the door leaf with a rotary encoder for detecting the angle of rotation of the door leaf wherein the door sensor has a common carrier which the 3D image sensor with Rotary encoder connects. Preferably, the rotary encoder is an at least 2-axis rotary encoder. Preferably, the rotary encoder is a gyrosensor. Preferably, the common carrier defines a mounting plane for mounting on the door leaf and the rotary encoder is inclined with respect to the mounting plane and arranged in particular inclined by 15 °. Preferably, the common carrier comprises an edge or mark for horizontal and / or vertical alignment of the carrier on the door leaf, and the rotary encoder is inclined with respect to the edge or mark and arranged in particular inclined by 30 °. Preferably, the common carrier has a mounting plate for positionally stable recording of the 3D image sensor and the rotary encoder which has a plane for mounting on the door leaf and / or which comprises an edge or a mark which is intended to be in a horizontal and / or vertical orientation on the door leaf to be arranged, wherein the rotary encoder with respect to two vertical axes in the mounting plane, in particular the main axes of the door leaf is arranged 1-fold or 2-fold inclined. Preferably, the door sensor has a predetermined side for mounting in the direction of the door leaf. Preferably, the rotary encoder is a 3-axis rotary encoder, in particular a 3-axis gyro sensor. Preferably, the door sensor has a memory for storing environmental parameters, in particular the door side (inside door or door outside), the direction of rotation (left or right-hand door) and the maximum angle of rotation of the door leaf.

Verfahren zum Einlernen von Parametern für einen Türsensor zur Überwachung eines Überwachungsfeldes vor dem Türblatt einer Türe zur Montage auf dem Türblatt einer Schwenk- oder Drehtüre mit einem mindestens 2-achsigen Drehwinkelgeber welcher in Bezug auf das Türblatt mindestens 1-fach geneigt ist wobei folgende Verfahrensschritte ausgeführt werden: Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt mindestens 1-fach geneigt ist, Öffnen des Türblattes der geschlossenen Türe, Detektion der Drehung beider Achsen des Drehwinkelgebers beim Öffnen, Ermittlung der Drehrichtung beider Achsen aufgrund deren Drehung, Ermittlung der Türseite (Türinnenseite oder Türaussenseite) an der der Türsensor am Türblatt montiert ist aufgrund der Drehrichtung der beiden Achsen, Speicherung der Türseite (innen oder aussen) in einem Speicher, insbesondere einem Speicher des Türsensors. Vorzugsweise sind weitere Verfahrensschritte die Ermittlung der Drehrichtung des Türblatts (links- oder rechtsdrehend) aufgrund der Drehrichtung mindestens einer Achse des Drehwinkelgebers und die Speicherung der Drehrichtung in einem Speicher, insbesondere in einem Speicher des Türsensors.A method for teaching parameters for a door sensor for monitoring a monitoring field in front of the door leaf of a door for mounting on the door leaf of a swivel or revolving door with a minimum 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf wherein the following method steps performed Use of a minimum 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf, opening the door leaf of the closed door, detecting the rotation of both axes of the rotary encoder when opening, determining the direction of rotation of both axes due to their rotation, determining the Door side (door inside or door outside) on which the door sensor is mounted on the door leaf due to the direction of rotation of the two axes, storing the door side (inside or outside) in a memory, in particular a memory of the door sensor. Preferably, further method steps are the determination of the direction of rotation of the door leaf (left or right-handed rotation) due to the direction of rotation of at least one axis of the rotary encoder and the storage of the direction of rotation in a memory, in particular in a memory of the door sensor.

Vorzugsweise sind weitere Verfahrensschritte das Öffnen der Türe bis zum Maximum, insbesondere mit anschliessendem Reversieren, insbesondere mit anschliessendem Schliessen der Türe, Detektion des maximalen Drehwinkels aufgrund des Stillstandes oder der Bewegungsumkehr aufgrund der Reversion der Drehung aufgrund des Öffnens bis zum Maximum, und die Speicherung des maximalen Drehwinkels in einem Speicher, insbesondere in einem Speicher des Türsensors. Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt 2-fach geneigt ist. Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines 3-achsigen Drehwinkelgebers. Vorzugsweise ist ein weiterer Verfahrensschritt die Verwendung eines Gyrosensors als Drehwinkelgeber.Preferably, further method steps are opening the door to the maximum, in particular with subsequent reversing, in particular with subsequent closing of the door, detection of the maximum angle of rotation due to stoppage or reversal of motion due to the reversion of the rotation due to the opening to the maximum, and the storage of the maximum angle of rotation in a memory, in particular in a memory of the door sensor. Preferably, a further method step is the use of an at least 2-axis rotary encoder which is 2-fold inclined with respect to the door leaf. Preferably, a further method step is the use of a 3-axis rotary encoder. Preferably, a further method step is the use of a gyro sensor as a rotary encoder.

Türsensor zur Montage auf dem Türblatt einer Schwenk- oder Drehtüre mit einem 3D Bildsensor zur Überwachung eines Überwachungsfeldes vor dem Türblatt mit einem Drehwinkelgeber oder einem Signaleingang zur Erfassung des Drehwinkels des Türblatts wobei der Türsensor dazu ausgebildet ist, die Ausdehnung des Überwachungsfelds in Abhängigkeit des Drehwinkels zu ändern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung des Überwachungsfeldes in Richtung der Türaussenkante in Abhängigkeit des Drehwinkels zu ändern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung mit zunehmendem Drehwinkel mindestens teilweise zu vergrössern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung mit zunehmendem Drehwinkel zunächst zu vergrössern und dann wieder zu verringern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung mit zunehmendem Drehwinkel mindestens teilweise zu verringern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung mit zunehmendem Drehwinkel zunächst zu verringern und dann wieder zu vergrössern. Vorzugsweise ist der Türsensor dazu ausgebildet, die Ausdehnung des Überwachungsfeldes in Abhängigkeit des maximalen Drehwinkels der Öffnung des Türblatts zu ändern. Vorzugsweise ist der Türsensor dazu ausgebildet, das Überwachungsfeld so zu ändern, dass es im Wesentlichen nicht über die Ebene des Türblatts bei maximalem Drehwinkel hinausreicht, insbesondre nicht über einen festgelegten Raumabschnitt über die Ebene des Türblatts bei maximalem Drehwinkel hinausreicht, insbesondre nicht über die Ebene des Türblatts bei maximalem Drehwinkel hinausreicht. Vorzugsweise weist der Türsensor einen gemeinsamen Träger auf welcher den 3D Bildsensor mit dem Drehwinkelgeber verbindet. Vorzugsweise ist der Drehwinkelgeber ein Gyrosensor. Vorzugsweise ist die Änderung der Ausdehnung des Überwachungsfeldes durch eine Änderung der ausgewerteten Raumpunkte bewirkt.Door sensor for mounting on the door leaf of a swivel or revolving door with a 3D image sensor for monitoring a monitoring field in front of the door leaf with a rotary encoder or a signal input for detecting the rotation angle of the door leaf, wherein the door sensor is adapted to the extent of the monitoring field in dependence on the rotation angle to change. Preferably, the door sensor is designed to change the extent of the monitoring field in the direction of the door outer edge as a function of the angle of rotation. Preferably, the door sensor is designed to at least partially increase the expansion with increasing rotation angle. Preferably, the door sensor is designed to initially increase the expansion with increasing rotation angle and then to reduce it again. Preferably, the door sensor is designed to at least partially reduce the expansion as the angle of rotation increases. Preferably, the door sensor is designed to initially reduce the expansion with increasing rotation angle and then to increase again. Preferably, the door sensor is designed to change the extent of the monitoring field in dependence on the maximum angle of rotation of the opening of the door leaf. Preferably, the door sensor is adapted to change the monitoring field so that it does not extend substantially beyond the plane of the door panel at maximum rotation angle, in particular does not extend beyond a predetermined space portion above the plane of the door panel at maximum rotation angle, in particular not over the plane of Door leaf at maximum rotation angle extends. Preferably, the door sensor has a common carrier on which connects the 3D image sensor with the rotary encoder. Preferably, the rotary encoder is a gyrosensor. Preferably, the change in the extent of the monitoring field is caused by a change in the evaluated space points.

Türe, insbesondere eine Schwenk- oder Drehtüre mit einem der vorgenannten Türsensoren wobei der Türsensor auf der Fläche des Türblatts der Türe angebracht ist und insbesondere oben auf dem Türblatt angebracht ist, insbesondere in den oberen 90% des Türblatts angebracht ist, insbesondere auf der Seite der Drehachse, insbesondere weniger als 20%, insbesondere weniger als 10% der Breite des Türblatts von der Drehachse entfernt angebracht ist.Door, in particular a pivoting or revolving door with one of the aforementioned door sensors wherein the door sensor is mounted on the surface of the door leaf of the door and in particular mounted on top of the door leaf, in particular in the upper 90% of the door panel is mounted, in particular on the side of Is mounted rotation axis, in particular less than 20%, in particular less than 10% of the width of the door leaf away from the axis of rotation.

Bezugszeichenliste:LIST OF REFERENCE NUMBERS

1010
Wandwall
1111
Türöffnungdoorway
2020
Türdoor
2121
Türblattdoor leaf
2222
Türscharnierdoor hinge
2323
X-Achse des TürblattsX-axis of the door leaf
2424
Y-Achse des TürblattsY-axis of the door leaf
2525
Z-Achse des TürblattsZ-axis of the door leaf
3030
Türsensordoor sensor
3131
Montageplattemounting plate
3232
Ebene der MontageplattePlane of the mounting plate
3333
Waagrechte Kante der MontageplatteHorizontal edge of the mounting plate
3434
Senkrechte Kante der MontageplatteVertical edge of the mounting plate
3535
Stützelementesupport elements
3636
Halteelementeretaining elements
3737
Gehäusecasing
4040
3D Bildsensor3D image sensor
4141
Sendertransmitter
4242
Empfängerreceiver
5050
3-Achsen Gyrosensor3-axis gyro sensor
5151
X-Achse des GyrosensorsX-axis of the gyro sensor
5252
Y-Achse des GyrosensorsY-axis of the gyro sensor
5353
Z-Achse des GyrosensorsZ axis of the gyro sensor
6161
1. Fall der Anordnung1st case of the arrangement
6262
2. Fall der Anordnung2nd case of the arrangement
6363
3. Fall der Anordnung3rd case of the arrangement
6464
4. Fall der Anordnung4th case of the arrangement
7070
Überwachungsfeldmonitoring field
7171
reduziertes Überwachungsfeldreduced monitoring field
7272
vergrössertes Überwachungsfeldenlarged monitoring field

Claims (6)

Verfahren zum Einlernen von Parametern - für einen Türsensor (30) - zur Überwachung eines Überwachungsfeldes (70, 71, 72) vor dem Türblatt (21) einer Türe (20) - zur Montage auf dem Türblatt (21) einer Schwenk- oder Drehtüre (20) gekennzeichnet durch die Verfahrensschritte: - Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt mindestens 1-fach geneigt ist, - Öffnen des Türblattes der geschlossenen Türe, - Detektion der Drehung beider Achsen des Drehwinkelgebers beim Öffnen, - Ermittlung der Drehrichtung beider Achsen aufgrund deren Drehung, - Ermittlung der Türseite (Türinnenseite oder Türaussenseite) an der der Türsensor am Türblatt montiert ist aufgrund der Drehrichtung der beiden Achsen, - Speicherung der Türseite (innen oder aussen) in einem Speicher, insbesondere einem Speicher des Türsensors Method for teaching parameters for a door sensor (30) for monitoring a monitoring field (70, 71, 72) in front of the door leaf (21) of a door (20) - For mounting on the door leaf (21) of a pivoting or revolving door (20) characterized by the method steps: Use of an at least 2-axis rotary encoder which is at least 1-fold inclined with respect to the door leaf, - opening the door leaf of the closed door, Detection of the rotation of both axes of the rotary encoder when opening, Determination of the direction of rotation of both axes due to their rotation, - Determination of the door side (inside or outside of the door) on which the door sensor is mounted on the door leaf due to the direction of rotation of the two axes, - Storage of the door side (inside or outside) in a memory, in particular a memory of the door sensor Verfahren nach Anspruch 1, gekennzeichnet durch weitere Verfahrensschritte: - Ermittlung der Drehrichtung des Türblatts (links- oder rechtsdrehend) aufgrund der Drehrichtung mindestens einer Achse des Drehwinkelgebers, - Speicherung der Drehrichtung in einem Speicher, insbesondere in einem Speicher des Türsensors. Method according to claim 1, characterized by further method steps: Determination of the direction of rotation of the door leaf (left or right-hand rotation) due to the direction of rotation of at least one axis of the rotary encoder, - Storage of the direction of rotation in a memory, in particular in a memory of the door sensor. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet durch die weiteren Verfahrensschritte: - Öffnen der Türe bis zum Maximum, insbesondere mit anschliessendem Reversieren, insbesondere mit anschliessendem Schliessen der Türe, - Detektion des maximalen Drehwinkels aufgrund des Stillstandes oder der Bewegungsumkehr aufgrund der Reversion der Drehung aufgrund des Öffnens bis zum Maximum, - Speicherung des maximalen Drehwinkels in einem Speicher, insbesondere in einem Speicher des Türsensors. Method according to one of the preceding claims, characterized by the further method steps: Opening the door to the maximum, in particular with subsequent reversing, in particular with subsequent closing of the door, Detection of the maximum angle of rotation due to the stoppage or the reversal of movement due to the reversion of the rotation due to the opening to the maximum, - Storage of the maximum angle of rotation in a memory, in particular in a memory of the door sensor. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet durch weitere Verfahrensschritte: - Verwendung eines mindestens 2-achsigen Drehwinkelgebers welcher in Bezug auf das Türblatt 2-fach geneigt ist. Method according to one of the preceding claims, characterized by further method steps: - Use of a minimum 2-axis rotary encoder which is 2-fold inclined with respect to the door leaf. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet durch weitere Verfahrensschritte: - Verwendung eines 3-achsigen Drehwinkelgebers. Method according to one of the preceding claims, characterized by further method steps: - Use of a 3-axis rotary encoder. Verfahren nach einem der vorhergehenden Ansprüche, gekennzeichnet dadurch, dass - Verwendung eines Gyrosensors als Drehwinkelgeber. Method according to one of the preceding claims, characterized in that - Using a gyro sensor as a rotary encoder.
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